Gary Servin / rosserial_mbed_lib

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Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

std_msgs/UInt16MultiArray.h@3:1cf99502f396, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:54:45 2011 +0000
Revision:
3:1cf99502f396
Parent:
1:ff0ec969dad1 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_std_msgs_UInt16MultiArray_h
nucho 3:1cf99502f396 2 #define _ROS_std_msgs_UInt16MultiArray_h
nucho 3:1cf99502f396 3
nucho 3:1cf99502f396 4 #include <stdint.h>
nucho 3:1cf99502f396 5 #include <string.h>
nucho 3:1cf99502f396 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 3:1cf99502f396 8 #include "std_msgs/MultiArrayLayout.h"
nucho 3:1cf99502f396 9
nucho 3:1cf99502f396 10 namespace std_msgs
nucho 3:1cf99502f396 11 {
nucho 3:1cf99502f396 12
nucho 3:1cf99502f396 13 class UInt16MultiArray : public ros::Msg
nucho 3:1cf99502f396 14 {
nucho 3:1cf99502f396 15 public:
nucho 3:1cf99502f396 16 std_msgs::MultiArrayLayout layout;
nucho 3:1cf99502f396 17 uint8_t data_length;
nucho 3:1cf99502f396 18 uint16_t st_data;
nucho 3:1cf99502f396 19 uint16_t * data;
nucho 3:1cf99502f396 20
nucho 3:1cf99502f396 21 virtual int serialize(unsigned char *outbuffer) const
nucho 3:1cf99502f396 22 {
nucho 3:1cf99502f396 23 int offset = 0;
nucho 3:1cf99502f396 24 offset += this->layout.serialize(outbuffer + offset);
nucho 3:1cf99502f396 25 *(outbuffer + offset++) = data_length;
nucho 3:1cf99502f396 26 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 27 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 28 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 29 for( uint8_t i = 0; i < data_length; i++){
nucho 3:1cf99502f396 30 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
nucho 3:1cf99502f396 31 *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
nucho 3:1cf99502f396 32 offset += sizeof(this->data[i]);
nucho 3:1cf99502f396 33 }
nucho 3:1cf99502f396 34 return offset;
nucho 3:1cf99502f396 35 }
nucho 3:1cf99502f396 36
nucho 3:1cf99502f396 37 virtual int deserialize(unsigned char *inbuffer)
nucho 3:1cf99502f396 38 {
nucho 3:1cf99502f396 39 int offset = 0;
nucho 3:1cf99502f396 40 offset += this->layout.deserialize(inbuffer + offset);
nucho 3:1cf99502f396 41 uint8_t data_lengthT = *(inbuffer + offset++);
nucho 3:1cf99502f396 42 if(data_lengthT > data_length)
nucho 3:1cf99502f396 43 this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
nucho 3:1cf99502f396 44 offset += 3;
nucho 3:1cf99502f396 45 data_length = data_lengthT;
nucho 3:1cf99502f396 46 for( uint8_t i = 0; i < data_length; i++){
nucho 3:1cf99502f396 47 this->st_data |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 3:1cf99502f396 48 this->st_data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 3:1cf99502f396 49 offset += sizeof(this->st_data);
nucho 3:1cf99502f396 50 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
nucho 3:1cf99502f396 51 }
nucho 3:1cf99502f396 52 return offset;
nucho 3:1cf99502f396 53 }
nucho 3:1cf99502f396 54
nucho 3:1cf99502f396 55 virtual const char * getType(){ return "std_msgs/UInt16MultiArray"; };
nucho 3:1cf99502f396 56 virtual const char * getMD5(){ return "52f264f1c973c4b73790d384c6cb4484"; };
nucho 3:1cf99502f396 57
nucho 3:1cf99502f396 58 };
nucho 3:1cf99502f396 59
nucho 3:1cf99502f396 60 }
nucho 0:77afd7560544 61 #endif